Minimally invasive surgery, especially vitreoretinal
surgery, requires high precision micromanipulation for sensitive
tissues. Robot-assisted surgery helps to reduce the imperfections
of safety, stiffness, and ergonomics. Using Remote Center of
Motion mechanism (RCM) in such surgeries ensures rigidity and
stability for the manipulation and the safety for the patient. In
this paper, a new planer compliant RCM mechanism is proposed.
The performance of the proposed compliant mechanism is
determined using finite element analysis by ANSYS software.
Compliant mechanism with flexure joints achieves the required
motion with acceptable rigidity and reduces the demerits of
mechanical joints such as friction, backlash, and lubricant. Also,
the pseudo-rigid-body method is utilized to model the compliant
mechanism as a rigid body. Then, MS-ADAMS software is
exploited for the dynamic modelling of the proposed mechanism.
The co-simulation between MS-ADAMS and MATLAB is carried
out to validate the motion of the mechanism using a PID
controller. The results show improvements for the proposed
design in terms of parasitic motions, RCM point drift and joint
stiffening. |
